Robotic manipulation

This repo stores my code for going through the MIT course on robotic manipulation.

Disclaimer: because this is just practice code, there isn't excessive documentation, check the source code.

Usage

Everything is dockerized, run

# Clone this repo
git clone [email protected]:redvinaa/manipulation.git
cd manipulation

# Update submodules
git submodule update --init --recursive  # get all submodules

# TODO fix this (if this is not ignored, rosdep will fail during docker build)
touch  ~/manipulation/workspace/src/osqp-eigen/COLCON_IGNORE

# Build and run container
docker compose build  # build the image
docker compose up -d  # start the container headlessly
docker exec -it manipulation bash  # enter the container

When you enter, the setup_environment script is sourced automatically, so all ros commands and already built packages are available.

You start out in the workspace directory, where you can directly build the packages:

colcon build

Then you might need to source the workspace again (if you built a package for the first time):

source install/setup.bash

Then you can run any executable, for example:

ros2 run pendulum pendulum_PID_control

Check each package's README.md for more details on how to run the code.

Notes

To get a working UR stack in simulation, it's enough to clone the UR_ROS2_GZ repo and install the dependencies with

vcs import < ur_simulation_gz.jazzy.repos

Export compilation database to have intellisense:
```bash
colcon build --packages-select basic_pick_and_place_ur --cmake-args ' -DCMAKE_EXPORT_COMPILE_COMMANDS=ON'

Set use_sim_time to true when running in simulation:

ros2 run basic_pick_and_place_ur robot_painter --ros-args -p use_sim_time:=true